Abstract
This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller.
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This paper was recommended for publication in revised form by Associate Editor Kyongsu Yi
Le Duc Hanh received the B. S. degree in the department of Mechanical Engineering from Hochiminh City University of Technology in 2006, the M.Sc. degree in Mechanical and Automotive Engineering from University of Ulsan in 2008. His research interests are electro-hydraulic excavator, remote control, intelligent control.
Kyoung Kwan Ahn received the B. S. degree in the department of Mechanical Engineering from Seoul National University in 1990, the M. Sc. degree in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST) in 1992 and the Ph.D. degree with the title “A study on the automation of out-door tasks using 2 link electro-hydraulic manipulator from Tokyo Institute of Technology in 1999, respectively. He is currently a Professor in the school of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea. His research interests are hybrid excavator, fluid power control, design and control of smart atuator using smart material, rehabilization robot and active damping control. He is a member of IEEE, ASME, SICE, RSJ, JSME, KSME, KSPE, KSAE, KFPS, and JFPS.
Bao Kha Nguyen received the B. S. and M. S. degree from Hochiminh City University of Technology in 2001 and 2003, respectively, all in Automatic Control Engineering and the Ph.D. degree from University of Ulsan in 2006. His research interests focus on intelligent control, modern control theory and their applications, design and control of smart actuator systems.
WooKeun Jo received the B.S. degree in the department of Mechanical and Automotive Engineering from University of Ulsan in 2007. And he matriculated M.S. at University of Ulsan. Currently, he’s syudying on it. His research interests focus on fluid control, welfare vehicle, mobile robot
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Le Hanh, D., Ahn, K.K., Kha, N.B. et al. Trajectory control of electro-hydraulic excavator using fuzzy self tuning algorithm with neural network. J Mech Sci Technol 23, 149–160 (2009). https://doi.org/10.1007/s12206-008-0817-7
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DOI: https://doi.org/10.1007/s12206-008-0817-7